Step 7: Software

Step 8: Afterthoughts

I am working on a website and will eventually create a dedicate ROS page for the POLYRO project. If anyone is interested in working with me to develop...

Step 5: Assembly

*Note: Before assembling be sure to test and position each servo to 0 using RoboPlus Manager. It is also important to assign separate ID's to each servo.

I will continue to update this tutorial over time while I work on Polyro v2.

The original design files have been attached in both Illustrator and PDF formats; this is to help guide your assembly and allows for you to make changes to the original design. I also tried to group specific parts together within the three PDF's (arm parts, head parts, etc.). It should be easy to assemble POLYRO using the Illustrator file, PDF's and photos of the finished robot.

The Gusseted Plastic Angle Brackets were chosen to simply the assembly process and add stability to the robot. When assembling, start from the bottom and work your way up. Drill a hole in the *Polyro Base (see image above) large enough for the iRobot Serial Cable to pass through before attaching it to the Create. Mount the Kinect Bracket Dock Stand before adding the metal risers to the Kinect Mount Base (see image above).

Arms

I used #4 x 5/8" metal screws for the arms and shoulder brackets (see image above). Bolts from the Bioloid Bolt & Nut Set also work great when assembling the arm.

Head

*When preparing to mount the USB cameras to the AX-12 servos, you can disgard the clamp-like base, but be sure keep the black circular part that snaps into the bottom of the camera. This small circular piece will be screwed onto the modified Bioloid Servo Bracket (shaped into a circle using the Dremel). Once that is done, it is easy to snap the USB cameras onto the servos.

If there are any other parts in the assembly process that are not clear, just let me know and I will update this tutorial.